The paper presents a theoretical study about the dynamic behaviour of an underactuated finger. By modelling the equation of dynamics, two kinds of fingers were studied: the first with equal phalanges, and the second with three different phalanges whose parameters are similar to those of a human finger. The results obtained for this last type of configuration are presented in the paper. The studies reported in the paper have been realized to study the dynamic behaviour of the under actuated finger; the main scope was to investigate the geometrical parameters which allow obtaining a more suitable closing sequence of the phalanges in order to better grasp objects.
Dynamic behaviour of an underactuated finger / Niola, Vincenzo; Rossi, Cesare; Savino, Sergio; Potapov, Pavel. - 371:(2016), pp. 79-87. (Intervento presentato al convegno 24th International Conference on Robotics in Alpe-Adria-Danube Region, RAAD 2015 tenutosi a rou nel 2015) [10.1007/978-3-319-21290-6_8].
Dynamic behaviour of an underactuated finger
NIOLA, VINCENZO;ROSSI, CESARE;SAVINO, Sergio;
2016
Abstract
The paper presents a theoretical study about the dynamic behaviour of an underactuated finger. By modelling the equation of dynamics, two kinds of fingers were studied: the first with equal phalanges, and the second with three different phalanges whose parameters are similar to those of a human finger. The results obtained for this last type of configuration are presented in the paper. The studies reported in the paper have been realized to study the dynamic behaviour of the under actuated finger; the main scope was to investigate the geometrical parameters which allow obtaining a more suitable closing sequence of the phalanges in order to better grasp objects.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
